﻿/* ------------------------------------------------------------------------- */
/*
 * C O M P A N Y   P R O P R I E T A R Y
 * use or disclosure of data contained in this file is subject to the
 * requirements an the end of this file
 *
 * CLASSIFICATION: OFFEN / UNCLASSIFIED
 */
/* ------------------------------------------------------------------------- */

/* ######################################################################### */
/** \file M44_auxMapCell.cs
 *  \brief This file contains the auxiliary structure that saves the processed 
 *         information from the sensors. 
 * 
 * This file contains all the needed methods to create and modifie a structure called:
 * aux_MapCell_local. It is an auxiliary structure where all the processed information 
 * from the sensors is saved.
 *
 * PROJEKT:   NETWORKED MULTI-ROBOT SYSTEMS
 *
 * Copyright (c) 2008 SENER - Universidad Politécnica de Madrid.
 *
 * \author    Antonio Matta \n
 *            Universidad Politécnica de Madrid \n
 *            Grupo de Robótica y Cibernética \n
 * \version   0.01
 * \date      2009-07-15
 *
 * \n \n
 * Versionshistory: \n
 * -----------------
 * - Version 0.01:   Antonio MATTA                          2009-07-15 \n
 *      First implementation of the M44_auxMapCell.
 */
/* ######################################################################### */

/*Autogenerated*/
using System;
using System.Collections.Generic;
using System.Text;

/* ------------------------------------------------------------------------- */
/**	\namespace NMRS.M44_SensorFusionAndMapping
 *
 *  \brief	This is the namespace of the M44 Sensor Fusion and Mapping module
 */
/* ------------------------------------------------------------------------- */
namespace NMRS.M44_SensorFusionAndMapping
{
   
    /* ------------------------------------------------------------------------- */
    /**	\struct aux_MapCell
     * 
     *  \brief Auxiliary structure where all the processed information 
     *         from the sensors is saved.
     *  
     */
    /* ------------------------------------------------------------------------- */
    public struct aux_MapCell
    {
        /* ##### INPUT VARIABLES ##### */

        public byte[,] Confidence;
        public byte[,] Occupation;
        public float[,] Measured_Heights;
        public byte[,] Communication_Quality;
        public byte[,] GPS_reception_quality;
        public float[,] Measured_Gradient_X;
        public float[,] Measured_Gradient_Y;
        public byte[,] Freedom_probability;
        public float[,] Distance;
        /*!s_Nrows TBD -> MISSING*/
        public ushort us_Nrows;
        /*!s_Ncols TBD -> MISSING*/
        public ushort us_Ncols;
        /*!us_Scale_local TBD -> MISSING*/
        
        public aux_MapCell(ushort Nrows, ushort Ncols)
        {
            Confidence = new byte[Nrows, Ncols];
            Occupation = new byte[Nrows, Ncols];
            Measured_Heights = new float[Nrows, Ncols];
            Communication_Quality = new byte[Nrows, Ncols];
            GPS_reception_quality = new byte[Nrows, Ncols];
            Measured_Gradient_X = new float[Nrows, Ncols];
            Measured_Gradient_Y = new float[Nrows, Ncols];
            Freedom_probability = new byte[Nrows, Ncols];
            Distance = new float[Nrows, Ncols];
            us_Nrows = Nrows;
            us_Ncols = Ncols;
        }
    }
}

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/*
 * RIGHT OF USE. This document may neither be passed on to third parties or
 * reproduced nor its contents utilized or divulged without the expressed
 * prior permission of the EUROPEAN DEFENCE AGENCY, or any national government
 * having rights on it. In case of contravention, the offender shall be
 * liable for damages.
 *
 * ATTENTION! DEFENCE MATERIAL. This document may contain data which is subject
 * to export control. For the export of this data an export license is
 * required.
 *
 * COMPANY PROPRIETARY. This document contains proprietary information and
 * may only be used by the recipient for the prescribed purposes and may
 * neither be reproduced in any form nor the document itself or its content
 * divulged to third parties without our expressed prior written permission.
 *
 * COPYRIGHT (C) Diehl BGT Defence GmbH & Co. KG; 2008; All rights reserved; 
 *
 * DISTRIBUTION AND USAGE RIGHTS: Restricted to the NETWORKED MULTI-ROBOT
 * SYSTEMS Project Consortium, participation governments, prime contractor,
 * subcontractors and vendors in accordance with contract / subcontract
 * clauses and / or other specified written agreements.
 */
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